CN103845135B - There is the auxiliary grasping tool of the manual that can be pulled to side - Google Patents

Abstract

The present invention has the auxiliary grasping tool of the manual that can be pulled to side。Relate to assist such as owing to arthritis, people that is injured or that make other physiological problem of diminished strength and cause health to come to harm suppress the auxiliary device of its especially movement of hands and/or wrist。By the aid including at least two fixture and each fixture is connected to people finger is solved this, wherein fixture is suitable in Guan Bi and unclamps each finger following people on the direction of fixture movably, and the startup of wherein aid includes uniaxially being locked in fixture current location。The present invention also introduces the erecting device for aid is connected to main part, and wherein said erecting device includes the coupling arrangement for separating and connect this and other instrument as required。

Description

There is the auxiliary grasping tool of the manual that can be pulled to side

Technical field

The present invention relates to for assisting such as due to arthritis, the auxiliary device injured or people that makes other physiological problem of diminished strength and cause health to come to harm, the especially people of the mobile restricted system of hands and/or wrist。This problem is solved by introducing the aid of device of the finger that there is at least two fixture and each fixture is connected to people, wherein fixture is suitable at least grasping and following one or more finger on the direction of release object, and wherein fixture is suitable to be positioned at the side of the finger of people。When people has moved aid to grasp object, the startup of aid guarantees the monodirectional locking of fixture, it means that lock in the movement in its release direction of the described fixture。

The present invention relates to for assisting such as due to arthritis, the injured or auxiliary device of the people of the mobile restricted system of people, especially hands and/or wrist that makes other physiological problem of diminished strength and cause health to come to harm。

Background technology

Considerable people makes to go smoothly due to the arthritic injured of such as rheumatism or other form or various disease and wrist is subject to deformation, chronic pain and other damage。This damage generally makes the people sustained damage be difficult or impossible to grasp and be efficiently used and handle the instrument of such as such as pen, pencil or other writing implement, shears, toothbrush, cooker (such as, cutter, fork, agitator, spatula etc.) etc.。

Many people can move its arm, even can move its finger, however it is necessary that strength to promptly various devices and keeps described device firmly。

Therefore, it is an object of the invention to introduce a kind of device, special and multipurpose auxiliary device, described auxiliary device can assist the people that maybe can make have hands and/or the wrist animally come to harm grip more easily and use various hand-held tool and device (such as, toothbrush, key, shears, pliers and cooker), wherein the present invention is particularly introduced into a kind of assistance and grasps the instrument of object firmly, and but this is particularly suited for moving its arm, hands and finger the user of the strength only not grasping object firmly。The purpose of the present invention is especially into a kind of device with fixture, described fixture is placed between the finger of user and the object that will be held, make the curable grip applied by aid without influence on finger, but only increase the pressure between the fixture of aid and object。

Such as such as US4,167, one of prior art aid shown in 044 has the disadvantage that fixture is positioned at " on the top " of the finger of user, thus finger being pressed onto by the object that is grasped, or described fixture is positioned at " inner side of hands " of user (for example, see US5,800,561 or but without disclosed application PCT/DK2011/000044)。Each in these strategies has multiple defect。

If fixture is at " on the top " of finger, then, when grasping object, the hands/finger of user is fixed also " extruding " between aid and object, and this is probably discomfort。

If fixture is in " inner side of hands " of user, then owing to the contact of object is that the contact of object is made described contact be " machinery " purely by aid by user, therefore being felt of contact of object will be lost by user。

The user of this auxiliary device or instrument sometimes it may be desirable that the described instrument of use, then described instrument is not in the near future used, this makes to need on continuous area or remove described instrument, and advantageously at least described device retained part can easily separate and remove only again easily to be grasped by user hands when needed from the direct opereating specification of user hands。

Present invention introduces with PCT/DK2011/000044 disclosed in same kind of aid, but solve defect as above。

Summary of the invention

By the aid having feature disclosed in major part with disclosed PCT/DK2011/000044 same type is solved this problem, described aid such as includes at least two fixture and each fixture is connected to the device of finger of people, and wherein fixture is suitable at least grasping and following each finger on the direction of release object。When people has moved aid to grasp object, the startup of aid guarantees the monodirectional locking of fixture, it means that lock in the movement in its release direction of the described fixture。

Mode according to this, user oneself can move hands and therefore aid moves to object and grasps object。Fixture is at least grasping and following finger and follow curable grip on the direction of release object, in this is followed, does not have significant strength also to be able to ensure firmly to grasp even if the gripping of object is established subsequently with user。This gripping is suitable to be formed so that the strength somewhat bigger than the strength grasped when starting makes the grasping to object become tight by aid。

In the present invention, defect is solved by introducing aid, described aid is characterised by: aid includes the moveable part having operating position with shifting side position onto, at described operating position, described moveable part is connected with hands and/or the finger of user, in described side position of shifting onto, described moveable part be not directly connected to the hands of user and/or finger or not with hands at wrist place directly up and down or rotate back and forth and conflict。

This can be implemented in a number of different manners, and joint or bendable portion that this moveable part moves relative to erecting device by allowing moveable part are connected to erecting device。

Will not be that " pendulum " returns working range to limit user hands in order to ensure instrument, it is preferred that moveable part is by locking mechanism or by the formation of resilience force in joint or bendable portion or be stepped up and be locked in and shift side position onto。Can be in one embodiment when switch is activated, for instance when with the promotion of certain predetermined force or extrusion clamp, be locked in the moveable part shifting side position onto and again unlock。

In order to identify the time reaching predetermined force, aid can include the force transducer measuring the power of promotion or extrusion clamp, or measure the power of promotion or extrusion clamp alternately through the one or more deformeter in measured material。

In the variation of intelligence, when not carrying out starting lasting preset time, moveable part is automatically moved to shifts side position onto。

In one embodiment, in order to overcome user to be unable to perceive that the discomfort of object, then at least one fixture may be adapted to be positioned between the finger of user, wherein term " between " in meaning, be understood to that at least one fixture is positioned substantially at the side of user finger when the direction vertical relative to the direction grasped is seen。

Accompanying drawing explanation

Fig. 1 is the simple legend of the aid of the fixture of the ultimate principle of the present invention；

Fig. 2 is the legend of a basic embodiment of the setting of the aid of the present invention；

Fig. 3 A and 3B is the simple legend of the key element of the present invention, and wherein aid includes the moveable part that can be pulled to side；

Fig. 4 is the embodiment how moveable part can be locked into a position；

Fig. 5 is the top view of the simple legend of the aid of an embodiment of the open contact platform according to the present invention；And

Fig. 6 is the top view of the simple legend of the aid of the second embodiment of the open contact platform according to the present invention。

Detailed description of the invention

Fig. 1 show schematically show the design of the aid 1 according to the present invention, wherein said legend is the side view that an embodiment is arranged, described setting has at least one fixture 2a on the side of the finger 3a being positioned at user, and wherein " side " is defined as being perpendicular on the direction such as the grasping shown in arrow 4 and release direction。At least one fixture 2b may be adapted to relevant finger and can be pressed onto on fixture 2b, and wherein the relevant finger in illustrated embodiment is thumb 3b, and at least one fixture as described in an illustrated embodiment can include switch 5。

Fixture 2 at least can grasp and move on the direction 4 of release object 6 together with finger。

When aid 1 is configured to be connected with object 4, as in figure 2 it is shown, user passes through fixture 2 and finger grip on object。

In an illustrated embodiment, at least one in fixture 2b has starting switch 5, described starting switch 5 is positioned such that when relevant finger (in the drawings thumb 3b) switchs 5 with the power started by press limited in advance, fixture interlocking mechanism is activated (not shown), thus preferably preferred for fixture 2 all fixtures 2 being locked in its current location with one way system, wherein one way system represents locked in the movement in the releasing direction of described fixture, but can move freely on grasping direction。

Aid 1 is further adapted for forming the gripping to object 6, and this gripping is by being formed so that the strength slightly bigger than the strength grasped when starting makes the grasping to object 6 become tight。This is further such that need fixture 2 not to be pressed on the finger 3 of user, or the tight grasping of this extra change may very pain。

Fig. 2 illustrates a non-limiting example of the aid 1 according to the present invention。

The figure illustrates the aid 1 with fixture 2, described fixture 2 couples 18 to driver element 17, and wherein driver element 17 includes driving and controls all devices of fixture 2, and is attached to the parts of erecting device 9。Erecting device 9 is the device being securely mounted to user at such as wrist or arm place in any known way。Coupling 18 preferably includes two flexible joints 11, wherein said flexible joint provide respectively aid 1 relative to driver element 17 up and down or back and forth and the movement of lateral or left and right or rotation。But, these flexible joints 11 be suitable to when aid 1 is activated its rotate on locking, thus relative position at least substantially " is freezed " to its start time their relative position。

At least one in fixture 2 is driven by the line 12 pulling fixture 2, and its center line 12 is connected to tooth bar 13, its middle rack 13 is operated as follows by gear train 14 again: the tooth of the gear of tooth bar and connection is so shaped that the gear connected when system is activated is possible to prevent tooth bar to move up in the side of the grasping unclamping fixture 2 but does not stop tooth bar to move up (this another example being the tight principle of foregoing single-phase change) making grasping become tight side。

Person of skill in the art will appreciate that the tooth how making tooth bar 13 and gear 14 realizes this, or such as can pass through make in gear 14 rotation in one direction lock, and rotation in the opposite direction does not lock, by Motor Control, any alternate manner being realized similar effect by actuator control etc.。Further, it is shown that embodiment include the motor 15 that drives such as gear train 14。The present invention is not limited to realize this butt formula really, and makes to be limited to importance, i.e. even if fixture 2 is locked already by the startup of system, this is considered only as in the locking unclamping on direction, and is not understood to the locking in the clamping or tightening direction of fixture 2。The people oneself using aid 1 can make fixture 2 become by the finger of use their own and tightly make grasping change tightly, even if people unclamps the grasping of finger, described system also is able to prevent described grasping from again being unclamped, till again disabling at least up system。

In a preferred embodiment, the operation of described system makes after the startup of the grasping of fixture 2, somewhat makes shown grasping change tightly set up gripping by ratio when starting, and wherein this is driven by motor 15。Fixture 2 makes grasping become tight degree further and can be depending on multiple factor, as limited in advance, some of user based on the aid 2 optionally operated by second hands start and/or based on the one or more deformeters being suitable to measure clamping force or make grasping become tight power or grip force in fixture 2, and wherein such as one or more in these can pass through to calculate and make the grasping tight algorithm of change be used further。

Fig. 2 illustrate only a possible embodiment of aid 1, and the replacement actuating system for motor 15 can be introduced into as just the replacement scheme of line 12, tooth bar 13 and gear 14 system etc.。

Fixture 2 can such as by any kind of actuator known in the field by such as electrically, electrostatic, magnetic, pneumatic, hydraulic pressure, machinery or line apparatus driver operate。These drivers can be passed through to switch 5 with predetermined power at finger place started by press and be controlled。

In an optional embodiment, the at least some that the foundation gripped is in that in fixture 2 includes and the contact portion of object 6, described contact portion is adapted for when aid 1 is activated being formed on the surface of fixture the inflatable of protuberance or inflatable contact portion, and these protuberances formed with object 6 contact at least some of of surface。

When switching 5 startup aid 1 by started by press, inflatable or inflatable contact portion inflates or expand into predetermined pressure or expansion level as balloon and extends from fixture 2, until they reach the expected degree contacted with object 6。Monodirectional locking fixture 2, inflatable or inflatable contact portion (being expressed on object 6) and high friction surface thereof combination guarantee the firm grip to object。

What form gripping main point is that fixture 2 is formed than grasping slightly tight when starting after start-up。Fixture 2 then can include contact portion, described contact portion is the contact portion of elastically deformable, described contact portion is made somewhat to be obedient to the surface of object 6, this provides with object the contacting of " softness " more, thus contributing to preventing object damaged, and additionally provide object is further become tight grasping or clamping。Additionally, the surface in these contact surfaces can so that described surface has high frictional force。

In one embodiment, fixture 2 and at least live part contacting surface of object 6 are made up of any kind of high friction material known in the field or at least include described high friction material。

Coupling 18 can so that fixture 2 can separate with driver element 17, and driver element 17 can include being connected to by driver element 17 erecting device 9 and any possible device that can be separated by driver element 17 with erecting device 9。

Such as, due to the increase of the resistance of the driver to fixture 2, when fixture 2 touching object 6, fixture 2 can sense automatically。When user stops starting switch 5, or alternatively when user starts shutdown switch (not shown), described system then optionally stops and discharging grasping, and shutdown switch can be positioned at Anywhere and can optionally by the another hand starting except being connected to auxiliary device 1。

Alternatively, for instance, when finger 3 discharges starting switch 5, fixture 2 stops, and then keeps this position until starting switch 5 is activated next time。

When user wants to put down object, remove the finger 3 pressing on one or more switches, thus removing the locking of fixture 2。

This only enables a user to mobile arm opening and closing finger 3, one or more starting switches 5 can only need to touch and be activated, wherein this can be the customized parameter of aid 1, and the tripping force of one or more switches 5 is conditioned in particular according to the needs of each user。

Identical startup/stopping can also being applied to grasp by making fixture 2 grasp somewhat further mobile on direction and become tight embodiment alternatively or additionally。

It is preferable that aid 1 by with same at patent application PCT/DK2011/000044 described in the way of identical mode be connected to the erecting device 9 of arm for aid 1 being fixed to user and aid 1 be connected to the connecting device 10 of erecting device 9, wherein connecting device 10 can include by with described in PCT/DK2011/000044 in the way of identical mode form aid 1 at the joint of the motility up and down or back and forth and in lateral or side-to-side movement or flexibility or other device, and in an identical manner, preferably it also is able to when grasping is activated and grips and sets up lock this motility or flexibility, and when grasping and gripping unlock this motility or flexibility when being released again。

The operating process of the aid 1 according to main embodiment is:

1. use people's positioning auxiliaring tool 1 of aid 1 to form the grasping of the pine to object 6；

2., when starting switch 5 is activated, user makes described grasping become tight until predetermined force；

3. fixture 2 is by monodirectional locking；And

4. the gripping of object 6 is established。

Object 6 is grasped owing to user self begins through the aid 1 carrying out assisting in forming firm grip, therefore aid 1 must be made to be provided with the device 8 contacted formed between aid 1 and hands and/or the finger 3 of user, and the hands/finger 3 making this contact enable a user to be grasped on object still user that wherein said contact is unidirectional at any time is free to separate with aid 1 on the direction that release grasps。

Fig. 3 A and Fig. 3 B shows aid 1 as above, but the aspect of the first embodiment of the present invention is illustrated further。When user is desirable for grasping tool, as mentioned above described grasping tool is positioned in hands so that user can form the to object 6 first grasping by hands and finger, and this is also illustrated in figure 3 a。

When user need not the assistance of aid 1 it is not intended that when removing aid 1, then aid is when the action that can hinder hands when such as position as shown in Figure 3A, and therefore aid 1 includes so that aid can be pulled to the device of side as shown in Figure 3 B。

" shifting side onto " and represent that aid 1 includes moveable part 10, described moveable part 10 includes fixture 2 and is connected to erecting device as follows: described moveable part can pushed away from one (as shown in Figure 3 B) that the direct opereating specification of hands such as arrives in side。

Moveable part 10 by allowing the joint of this movement or can be connected to erecting device by bendable portion and realizes by this。Those skilled in the art will it is known how realize this。

In one embodiment, when moveable part 10 is pulled to side, then described moveable part is by certain locking mechanism or simply due to the formation of resilience force or be stepped up and " locked " to this position, wherein moveable part is then maintained at described position by this resilience force in the movement needing to shift moveable part onto certain power of side。This is much like steel wire, and but steel wire has certain resilience force and can bend be flexed up to again be changed by maintenance。

In optional variation, moveable part 10 is by utilizing joint to rotate or being withdrawn into the position below driver element 17 simply by the translation of moveable part 10。

Not shown in the drawings erecting device and joint, this is because the importance of the present invention is not how to realize this, skilled artisan would know how to be best implemented with this。

When moveable part 10 is in the position being pulled to side, in order to recover moveable part 10, user needs catch moveable part 10 and moveable part 10 is taken back the operating position in one's hands and/or finger。If moveable part is locked into the position shifting side as above onto, then in one embodiment of the invention, user needs such as to be started the unblock of moveable part 10 by starting switch (such as, identical with the switch used when being used for setting up gripping starting switch 5)。Alternatively, can realize unlocking when user is by such as pressing fixture 2 less than the power of the power of predetermined tripping force。This can such as by the one or more deformeter in measured material 2 or measured alternately through being incorporated in system by force transducer, in both cases, measured material 2 grasps the actual forces on object 6, and wherein this measurement may be used for obtaining promoting starting switch 5 to start the predetermined force gripped。However, it is also possible to the side of shifting onto for moveable part 10 uses this。In one embodiment, needed to try hard to keep lasting preset time this before unlocking appearance。

In the embodiment alternatively or additionally of the present invention, moveable part is automatically moved to side position when not in use (such as, when not carrying out starting lasting preset time)。

In one embodiment of the invention, moveable part 10 can lateral or move left and right and up and down or move on moving back and forth, therefore, it is possible to follow the movement of hands, therefore user can grasp object with different angles, it has been shown that typically requires so。This natural mobility is realized by the device identical with the device that moveable part 10 can be made to shift side onto。Mode identical in the way of can being locked when being pulled to side with moveable part 10 by the technique device identical with the technique device that moveable part 10 can be locked when being pulled to side, when gripping is activated, moveable part 10 can be locked in physical location。

Preferably but not being in restricted embodiment in the present invention, moveable part 10 is made by one group of rop exercise。Restrict and by motor, rope is wound up on wheel and maybe rope from debatching wheel or is unclamped and released or tension。Moveable part 10 is locked in a position therefore such as to be moved in clutch by pin by tension rope and realize so that the described position of moveable part 10 is locked into current location。

This figure 4 illustrates, wherein clutch system 20 is such as coupled or attached to erecting device 9 with erecting device 9 and is fixed, and pin assembly 21 is connected with moveable part 10 and is fixed, it is thus possible to rotate 22 relative to clutch system 20 together with moveable part to arrive side, and it being drawn into 25 in multiple holes 23 of clutch system 20, which in concrete the plurality of hole 23 depends on the relative position of pin assembly 21 and clutch system 20。In order to be directed in hole 23 by pin assembly 21 when not having fully aligned, hole 23 advantageously can have conical entrance。

Pin assembly 21 can pass through to restrict or line operation, locks with any rotation 22 for pin assembly 21 thus drawing 25 to enter in hole 23 pin 24 when rope is tightened up, and when released, pin is pulled out 25 again, so that pin assembly 21 rotates freely again。

The rope of these embodiments can be also be connected thus pulling the line 12 of fixture 2 and/or can operating in a similar fashion。

Embodiment when Fig. 5 illustrates possible other of another of in Fig. 1-3 or the system shown in all figure or optionally sees in a top view, wherein finger 3a is shown as being positioned between fixture 2a and side, and wherein contact platform 8 is shown as wherein contact formation in the embodiment of the palm of hands。

Fig. 6 illustrates embodiment alternatively or additionally, wherein alternately or additionally there is contact platform 8, contact platform 8 be positioned such that contact platform formed with the first half of finger 3a contact and can wholly or partially between two adjoining clips 2 and can be fixed in described fixture 2 one or two。

Contact platform 8 can be rigid rod or tape member, this contact platform that makes that contact platform 8 can be arch is suitable to hold or receive relevant finger, contact platform 8 can be the compliant member extended between two adjacent fixtures, or can be formed in any other suitable manner and be formed by any suitable material。

By the one or more deformeter in measured material 2, or it is incorporated in system alternately through by force transducer, measured material 2 grasps the actual forces on object 6 in both cases, and this measurement may be used for obtaining promoting starting switch 5 to start the predetermined force gripped。

User can such as regularly be required hold as far as possible with strength or extrude object, then obtain this measured value benchmark as new subscription tripping force, or this measured value benchmark directly as new subscription tripping force or certain value of calculation based on described measured value are as the benchmark of new subscription tripping force。

In an identical manner, this may be used for training user by increasing predetermined tripping force, thus forcing user to increase to be formed and grip the power needing to apply。When gripping formation, user is no longer necessary to use any power to grasp object 6。

Auxiliary device 1 even may be used for training plan or program, and wherein such as by training user with different power and different intervals extruding object, when realizing this " target ", starting switch 5 is such as only activated。

This plan or program can control starting switch 5 and are provided with the computer chip of input of measurement power and include in auxiliary device by being equipped with for auxiliary device。Same computer chip can additionally or alternatively be used as the transacter of such as computer chip, and/or can carry out data communication to send measured value and/or to receive new information/instruction with receptor。

Fixture 2a and 2b can be connected to joint, thus can be movable independently of one another, or such as can pass through cogwheel or gear or any alternate manner connects so that a fixture follows the movement of another fixture naturally, in order to only need in fixture are to be moved。

Claims (14)

1. the aid (1) for being combined with the hands of people, described aid (1) includes at least two fixture (2), wherein said fixture (2) is suitable at least move up in the side of grasping and release object (6)

It is characterized in that described aid (1) includes having operating position and shifting the moveable part (10) of side position onto, at described operating position, described moveable part is connected with hands and/or the finger of user, side position is shifted onto described, described moveable part be not directly connected to the hands of user and/or finger or not with hands at wrist place directly up and down or rotate back and forth and conflict

Wherein, described moveable part (10) is connected to described erecting device by the described moveable part of permission (10) relative to the joint of erecting device relative movement or bendable portion, and

Wherein, described moveable part (10) is by locking mechanism or by the formation of resilience force in described joint or bendable portion or be stepped up and be locked in and shift side position onto。

2. aid according to claim 1 (1), wherein, when switch is activated, is locked in the described moveable part (10) shifting side position onto and again unlocks。

3. aid according to claim 1 (1), wherein, when described fixture (2) is promoted with certain predetermined force or extrudes, is locked in the described moveable part (10) shifting side position onto and again unlocks。

4. aid according to claim 3 (1), wherein, described aid (1) includes measuring the force transducer of power that described fixture (2) is promoted or extrudes。

5. aid according to claim 3 (1), wherein, described fixture (2) is promoted or the power that extrudes is measured by the one or more deformeter measuring in described fixture (2)。

6., according to aid in any one of the preceding claims wherein, wherein, when not carrying out starting lasting preset time, described moveable part (10) is automatically moved to shifts side position onto。

7. aid according to any one of claim 1 to 5, wherein, at least one fixture (2) is suitable to be positioned at the side of the finger (3) of user, and described side is defined as substantially on the direction vertical with the direction grasped and discharge。

8. aid according to claim 7 (1), wherein, each in fixture (2) is positioned at the side of finger (3)。

9. aid according to claim 7 (1), wherein, aid (1) includes contact platform (8), and described contact platform is adapted for contact with hands and/or finger (3) makes contact platform (8) when grasping object (6) be positioned between hands and/or finger and object (6)。

10. aid according to claim 8 (1), wherein, aid (1) includes contact platform (8), and described contact platform is adapted for contact with hands and/or finger (3) makes contact platform (8) when grasping object (6) be positioned between hands and/or finger and object (6)。

11. aid according to claim 1 (1), wherein, contact platform (8) is oriented to the palm of contact hands。

12. aid according to any one of claim 1 to 5 (1), wherein,

Fixture (2) described in the startup monodirectional locking of aid (1) so that described fixture (2) is locked in the movement in the releasing direction of this fixture。

13. aid according to any one of claim 1 to 5 (1), wherein, described aid also includes setting up the device to the gripping of object (6), to the gripping of object (6) by fixture formed to object (6), the additional curable grip of the curable grip when starting is formed。

14. aid according to claim 13 (1), wherein, described gripping is moved up in grasping side after start-up by described fixture (2) and sets up than grasping slightly tight when starting to be formed。